Relationship between the number of links (L) and number of pairs (P) is

The relation between number of links (l) and number of joints (j) in a kinematic chain is

The two links OA and OB are connected by a pin joint at O. If the link OA turns with angular velocity ω₁ rad/s in the clockwise direction and the link OB turns with angular velocity ω₂ rad/s in the clockwise direction, then the rubbing velocity at the pin joint O is (where r = Radius of the pin at O)

A rigid body possesses ________degrees of freedom

The acceleration of a flat-faced follower when it has contact with the flank of a circular arc cam, is given by

In its simplest form, a cam mechanism consists of following number of links

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